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commander: add orbit state handling

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This commit is contained in:
Matthias Grob
2018-12-08 22:34:57 +01:00
parent 77d37c5b7f
commit 34fb52d8bd
2 changed files with 34 additions and 2 deletions
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src/modules/commander/Commander.cpp
+19 -1
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@@ -1029,6 +1029,11 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
// Switch to orbit state and let the orbit task handle the command further
main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags, &internal_state);
break;
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_1:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_2:
@@ -1060,7 +1065,6 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION:
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET:
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE:
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
/* ignore commands that are handled by other parts of the system */
break;
@@ -3400,6 +3404,20 @@ set_control_mode()
break;
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
control_mode.flag_control_manual_enabled = false;
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = !status.in_transition_mode;
control_mode.flag_control_velocity_enabled = !status.in_transition_mode;
control_mode.flag_control_acceleration_enabled = false;
control_mode.flag_control_termination_enabled = false;
break;
default:
break;
}